Geometric control of 3D needle steering in soft-tissue

DOI10.1016/J.AUTOMATICA.2018.11.018MaRDI QIDQ1737682zbMATH OpenOpenAlexWikidataFDO

Authors Mohsen Khadem, Carlos Rossa, Nawaid Usmani, Ron S. Sloboda, Mahdi Tavakoli

Publication date 24 April 2019

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://www.pure.ed.ac.uk/ws/files/78358454/Geometric_control_of_3d_needle_steering_in_soft_tissue.pdf

zbMATH Keywords

autonomous controlgeometric approachesmedical applicationsrobot control

Mathematics Subject Classification ID

Transformations (93B17) Geometric methods (93B27) Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• Control and stabilization of nonholonomic dynamic systems
• scientific article; zbMATH DE number 3839814 (Why is no real title available?)
• Nonholonomic mechanics and control. With the collaboration of J. Baillieul, P. Crouch, and J. Marsden. With scientific input from P. S. Krishnaprasad, R. M. Murray, and D. Zenkov.

Cited in

(7)

• Dynamic path planning for bevel-tip flexible needle insertion into soft tissue based on a real-time finite element model
• LQG-based planning, sensing, and control of steerable needles
• Path planning for flexible needles using second order error propagation
• Visiting a sequence of points with a bevel-tip needle
• Towards optimal control of concentric tube robots in stereotactic neurosurgery
• A new path planning method for bevel-tip flexible needle insertion in 3D space with multiple targets and obstacles
• Modelling and real-time dynamic simulation of flexible needles for prostate biopsy and brachytherapy

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